CN209755212U - Traction type robot - Google Patents
Traction type robot Download PDFInfo
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- CN209755212U CN209755212U CN201920152247.3U CN201920152247U CN209755212U CN 209755212 U CN209755212 U CN 209755212U CN 201920152247 U CN201920152247 U CN 201920152247U CN 209755212 U CN209755212 U CN 209755212U
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Abstract
the utility model discloses a towed robot, include: the power device is arranged at the bottom of the robot body and used for driving the robot body to walk; the obstacle recognition device is arranged on the robot body and used for detecting obstacle information around the robot body; the navigation device is arranged on the robot body and used for determining the position information of the robot body; the information processing device is in signal connection with the obstacle recognition device and the navigation device and sends a control signal to the power device; and the material vehicle connecting mechanism comprises a mechanical claw which is arranged at the back of the robot body and is used for being connected with the material vehicle.
Description
Technical Field
the utility model relates to a robot field specifically is a towed robot.
background
The agv navigation method for transportation purpose in the market generally has the following forms.
a, laser radar navigation; b, line patrol navigation; c, two-dimension code navigation; d laser beacon navigation. Wherein, laser radar navigation's advantage does: the method has the advantages of high precision, adaptability to complex dynamic environments, new generation of navigation modes, wide application scenes, high service performance and strong adaptability. The disadvantages are: the cost is high. The line patrol navigation has the advantages that: the application is simple, the stability is strong, and the cost is slightly low; the disadvantages are: can only be used fixedly, needs to be reformed for a use scene, has high later maintenance cost and is gradually eliminated by the market. The two-dimensional code navigation has the advantages that: the cost is low; the disadvantages are: is not suitable for being used in complicated and dynamic occasions. The advantages of laser beacon navigation are: the cost is low; the disadvantages are: the precision is poor, and the method can only be applied to simple environments.
In addition, there are generally several forms of agv on the market for transportation purposes. a one-piece robot. b a submersible robot. c a pull robot. The integrated robot has the advantages that: the appearance shaping is strong, the function is diversified, and the operation experience of the client is good; the disadvantages are: the material box has low capacity, small space and high cost. The submersible robot has the advantages that: the capacity of the material vehicle is slightly larger, so that full-automatic transportation can be realized; the disadvantages are: the cost is high, needs the customization special material car, and the use restriction is big. The traction type robot has the advantages that: the client can directly use the existing material vehicle of the client and apply the existing scene without customizing a special material vehicle. But strong adaptability, the cost is low relatively, and the function is diversified, and customer operation experiences well. The defects are that the appearance is relatively poor and the turning radius is slightly larger.
Agv is mainly used in transportation in the market, mainly as an integral robot or a submersible robot. The traction type robot is rare because a traction type robot with strong practicability, stability and low manufacturing cost is not available in the market.
Therefore, how to design a practical and stable traction type robot becomes a problem to be solved urgently in the market.
SUMMERY OF THE UTILITY MODEL
In view of this, the present invention is to overcome the defects in the prior art, and to provide a practical and stable traction robot.
The utility model discloses a pull-type robot, include:
the robot body is provided with a plurality of parallel connection holes,
The power device is arranged at the bottom of the robot body and used for driving the robot body to walk;
the obstacle recognition device is arranged on the robot body and used for detecting obstacle information around the robot body;
The navigation device is arranged on the robot body and used for determining the position information of the robot body;
The information processing device is in signal connection with the obstacle recognition device and the navigation device and sends a control signal to the power device;
the material vehicle connecting mechanism comprises a mechanical claw which is arranged at the back of the robot body and is used for being connected with a material vehicle;
further, the mechanical claw is mounted on the back of the robot body through a mounting frame, and the position of the mounting frame is adjustable;
further, the mounting bracket includes:
the vertical moving module comprises a vertical polished rod which can be fixed on the body of the traction robot and is vertically arranged, a lining which is sleeved on the vertical polished rod in a sliding manner, a fixed block fixed on the lining and a vertical locking piece used for locking the sliding of the lining; the vertical locking piece comprises a first locking screw which is arranged on the lining and used for fixing the first lining and the vertical polished rod;
a horizontal moving module; the device comprises a bottom plate fixed on the fixed block along the horizontal direction, a horizontal polished rod horizontally arranged on the bottom plate, a first guide block and a second guide block which are sleeved outside the horizontal polished rod in a sliding manner, a long connecting rod and a short connecting rod which are hinged between the first guide block and the second guide block, and a horizontal locking piece used for locking the first guide block and the second guide block to slide; locking threaded holes are uniformly distributed in the bottom plate along the moving track of the guide block; the horizontal locking piece comprises a second locking screw which penetrates through the guide block and is in threaded connection with the locking threaded hole; the inner ends of the short connecting rod and the long connecting rod are hinged with the first guide block and the second guide block through short hinge shafts respectively; the outer ends of the short connecting rod and the long connecting rod are hinged with each other through a long hinge shaft; the long hinge shaft is used for mounting a manipulator;
further, the power device is a driving trolley; the front end of the driving trolley is provided with an anti-collision device; the bottom of the driving trolley is provided with wheels, and the driving trolley is internally provided with a motor, a speed reducer for reducing the speed of the power of the motor and outputting the power to the wheels, a battery for supplying power to the motor, a charging device for charging the battery and a motor controller for controlling the start and stop of the motor; the information processing device is electrically connected with the motor controller and controls the motor controller to work;
Further, the obstacle recognition device includes: the infrared sensor is arranged on the driving trolley, is connected with the information processing device and is used for identifying pedestrians and feeding back identification information to the information processing device;
The ultrasonic sensor is arranged in the robot body, scans the front area of the robot, is electrically connected with the information processing device, and is used for identifying a front object and feeding back identification information to the information processing device;
Further, the navigation device includes:
The two-dimensional code scanner is arranged on the driving trolley, is electrically connected with the information processing device and is used for identifying a two-dimensional code preset in the road to assist in positioning;
the laser radar navigation assembly is arranged on the driving trolley and is electrically connected with the information processing device;
The UWB positioning component is arranged on the driving trolley and is electrically connected with the information processing device;
further, the device also comprises a display device which is in signal connection with the information processing device; the display device is a touch screen display and is used for displaying a manual operation interface of the robot;
The robot further comprises a lighting device in signal connection with the information processing device, wherein the lighting device is a color-changing lamp which can display different colors to indicate the running state of the robot;
Further, the device also comprises a camera device and a sound amplifying device which are in signal connection with the information processing device; the camera device is a camera and is used for collecting images around the robot body; the public address device is a loudspeaker and is used for playing audio required by the robot during running;
Further, the information processing device is an industrial personal computer.
the utility model has the advantages that: the utility model discloses a towed robot, the position of mounting bracket can be from top to bottom, control the regulation, consequently, the gripper also can carry out position control, makes it can adapt to the material car of different specifications.
Drawings
the invention will be further described with reference to the following figures and examples:
Fig. 1 is an isometric view of a robot body of the present invention;
Fig. 2 is an overall schematic view of the present invention;
FIG. 3 is a schematic structural view of the driving cart of the present invention;
Fig. 4 is a schematic structural view of the mounting frame of the present invention;
fig. 5 is a schematic structural diagram of the horizontal movement module of the present invention.
Detailed Description
As shown in the drawings, the traction robot of the present embodiment includes: the robot comprises a robot body 1 and a power device, wherein the power device is arranged at the bottom of the robot body 1 and is used for driving the robot body to walk; the material trolley 10 is connected with a mechanism and comprises an installation frame 2 which is arranged at the back of the robot body 1 and is adjustable, and a mechanical claw 3 which is arranged on the installation frame 2; the mechanical claw 3 can grasp the connecting rod of the material trolley 10 to realize the connection between the robot and the material trolley; the utility model discloses a position of mounting bracket 2 can be adjusted about, from top to bottom, consequently, gripper 3 also can carry out position control, makes it can adapt to the material car 10 of different specifications. The information processing device is in signal connection with the obstacle recognition device and the navigation device and sends a control signal to the power device; display device 9, sound amplification device 8, lighting device 7, and imaging device 5: both of which are arranged on the robot body 1 and electrically connected with the information processing device;
in this embodiment, the mounting bracket 2 includes: the vertical moving module comprises a vertical polished rod 17 which can be fixed on the body of the traction robot and is vertically arranged, a lining 16 which is sleeved on the vertical polished rod 17 in a sliding manner, a fixed block fixed on the lining 16 and a vertical locking piece used for locking the lining 16 to slide; the vertical locking piece comprises a first locking screw which is arranged on the lining 16 and used for fixing the lining 16 and the vertical polished rod 17;
A horizontal moving module; the device comprises a bottom plate 18 fixed on the fixed block along the horizontal direction, a horizontal polished rod 19 horizontally arranged on the bottom plate 18, a first guide block 20 and a second guide block 21 which are sleeved on the horizontal polished rod 19 in a sliding manner, a long connecting rod 23 and a short connecting rod 22 which are hinged between the first guide block 20 and the second guide block 21, and a horizontal locking piece for locking the first guide block 20 and the second guide block 21 to slide; locking threaded holes are uniformly distributed in the bottom plate 18 along the moving track of the guide block; the horizontal locking piece comprises a second locking screw which penetrates through the guide block and is in threaded connection with the locking threaded hole; the inner ends of the short connecting rod 22 and the long connecting rod 23 are hinged with the first guide block 20 and the second guide block 21 through short hinge shafts 25 respectively; the outer ends of the short connecting rod 22 and the long connecting rod 23 are hinged with each other through a long hinge shaft 24; the long hinge shaft 24 is used for mounting a manipulator;
therefore, the position of the mechanical claw 3 along the vertical direction can be adjusted by sliding the adjusting bush 16 along the vertical polished rod 17, and after the adjustment is finished, the first locking screw is rotated to enable the end part of the first locking screw to be tightly abutted against the vertical polished rod 17, so that the bush 16 and the vertical polished rod 17 are mutually fixed. Meanwhile, the horizontal position of the mechanical claw 3 can be adjusted by adjusting the sliding of the first guide block 20 and the second guide block 21 relative to the horizontal polished rod 19, after the adjustment is finished, a second locking screw penetrates through the guide blocks and is in threaded connection with the corresponding locking threaded holes, so that the fixation of the guide blocks is realized, in addition, the distance between the first guide block 20 and the second guide block 21 can be adjusted, and the adjustment of the position of the mechanical claw 3 is realized.
In this embodiment, the power device is a driving trolley; the front end of the driving trolley is provided with an anti-collision device; the anti-collision device can adopt anti-collision pads and other components, wheels 13 are arranged at the bottom of the driving trolley, a motor 15, a speed reducer 14 for reducing the speed of the power of the motor 15 and outputting the power to the wheels 13, a battery 11 for supplying power to the motor 15, a charging device 12 for charging the battery 11 and a motor 15 controller for controlling the start and stop of the motor 15 are arranged in the driving trolley; the information processing device is electrically connected with the motor 15 controller and controls the motor 15 controller to work; the power of the motor 15 is decelerated by the speed reducer 14 to drive the wheels 13 to rotate, so that the whole robot walks.
In this embodiment, the obstacle recognition device includes: the infrared sensor is arranged on the driving trolley, is connected with the information processing device and is used for identifying pedestrians and feeding back identification information to the information processing device; and the ultrasonic sensor 4 is arranged in the robot body 1, scans the front area of the robot, is electrically connected with the information processing device, and is used for identifying a front object and feeding back identification information to the information processing device.
in this embodiment, the navigation device includes: the two-dimensional code scanner is arranged on the driving trolley, is electrically connected with the information processing device and is used for identifying a two-dimensional code preset in the road to assist in positioning; the laser radar navigation component 6 is arranged on the driving trolley, and is electrically connected with the information processing device; the UWB positioning component is arranged on the driving trolley and is electrically connected with the information processing device;
in this embodiment, the display device 9 is a touch screen display, and is configured to display a manual operation interface of the robot; the light device 7 is a color-changing lamp which can display different colors to indicate the running state of the robot; the camera device 5 is a camera; the sound amplifying device 8 is a loudspeaker and is used for playing audio required by the robot during running;
in this embodiment, information processing apparatus is the industrial computer, and the industrial computer has the advantage that stability is good, and the reliability is high.
finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the present invention can be modified or replaced by other means without departing from the spirit and scope of the present invention, which should be construed as limited only by the appended claims.
Claims (10)
1. a pull robot, comprising:
the robot body is provided with a plurality of parallel connection holes,
the power device is arranged at the bottom of the robot body and used for driving the robot body to walk;
The obstacle recognition device is arranged on the robot body and used for detecting obstacle information around the robot body;
The information processing device is in signal connection with the obstacle recognition device and sends a control signal to the power device;
And the material vehicle connecting mechanism comprises a mechanical claw which is arranged at the back of the robot body and is used for being connected with the material vehicle.
2. The tractor robot of claim 1, wherein: the mechanical claw is arranged on the back of the robot body through a mounting frame, and the position of the mounting frame is adjustable.
3. the tractor robot of claim 2, wherein: the mounting frame comprises
the vertical moving module comprises a vertical polished rod which can be fixed on the body of the traction robot and is vertically arranged, a lining which is sleeved on the vertical polished rod in a sliding manner, a fixed block fixed on the lining and a vertical locking piece used for locking the sliding of the lining; the vertical locking piece comprises a first locking screw which is arranged on the lining and used for fixing the first lining and the vertical polished rod;
a horizontal moving module; the device comprises a bottom plate fixed on the fixed block along the horizontal direction, a horizontal polished rod horizontally arranged on the bottom plate, a first guide block and a second guide block which are sleeved outside the horizontal polished rod in a sliding manner, a long connecting rod and a short connecting rod which are hinged between the first guide block and the second guide block, and a horizontal locking piece used for locking the first guide block and the second guide block to slide; locking threaded holes are uniformly distributed in the bottom plate along the moving track of the guide block; the horizontal locking piece comprises a second locking screw which penetrates through the guide block and is in threaded connection with the locking threaded hole; the inner ends of the short connecting rod and the long connecting rod are hinged with the first guide block and the second guide block through short hinge shafts respectively; the outer ends of the short connecting rod and the long connecting rod are hinged with each other through a long hinge shaft; the long hinge shaft is used for installing a manipulator.
4. the tractor robot of claim 1, wherein: the power device is a driving trolley; the front end of the driving trolley is provided with an anti-collision device; the bottom of the driving trolley is provided with wheels, and the driving trolley is internally provided with a motor, a speed reducer for reducing the speed of the power of the motor and outputting the power to the wheels, a battery for supplying power to the motor, a charging device for charging the battery and a motor controller for controlling the start and stop of the motor; the information processing device is electrically connected with the motor controller and controls the motor controller to work.
5. The tractor robot of claim 4, wherein: the obstacle recognition device includes: the infrared sensor is arranged on the driving trolley, is connected with the information processing device and is used for identifying pedestrians and feeding back identification information to the information processing device;
And the ultrasonic sensor is arranged in the robot body, scans the front area of the robot, is electrically connected with the information processing device, and is used for identifying the front object and feeding back identification information to the information processing device.
6. The pull-type robot as claimed in claim 5, further comprising a navigation device in signal connection with the information processing device; the navigation device includes:
The two-dimensional code scanner is arranged on the driving trolley, is electrically connected with the information processing device and is used for identifying a two-dimensional code preset in the road to assist in positioning;
The laser radar navigation assembly is arranged on the driving trolley and is electrically connected with the information processing device;
And the UWB positioning component is arranged on the driving trolley and is electrically connected with the information processing device.
7. the tractor robot of claim 1, wherein: the display device is in signal connection with the information processing device; the display device is a touch screen display and is used for displaying a manual operation interface of the robot.
8. the tractor robot of claim 1, wherein: still include with information processing device signal connection's lighting device, lighting device is the lamp that changes colour, the lamp that changes colour can show different colours in order to instruct the running state of robot.
9. the tractor robot of claim 1, wherein: the device also comprises a camera device and a sound amplifying device which are in signal connection with the information processing device; the camera device is a camera and is used for collecting images around the robot body; the public address set is a loudspeaker and is used for playing audio required by the robot during operation.
10. the tractor robot of claim 1, wherein: the information processing device is an industrial personal computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920152247.3U CN209755212U (en) | 2019-01-29 | 2019-01-29 | Traction type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920152247.3U CN209755212U (en) | 2019-01-29 | 2019-01-29 | Traction type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209755212U true CN209755212U (en) | 2019-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920152247.3U Active CN209755212U (en) | 2019-01-29 | 2019-01-29 | Traction type robot |
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| CN (1) | CN209755212U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110764517A (en) * | 2019-12-30 | 2020-02-07 | 天津联汇智造科技有限公司 | System and method for avoiding obstacles by using mobile robot to drag skip car |
| CN113859383A (en) * | 2020-06-30 | 2021-12-31 | 京东科技信息技术有限公司 | Transfer robot and control method thereof |
| CN114954733A (en) * | 2021-02-19 | 2022-08-30 | 京东科技信息技术有限公司 | Delivery robot and robot delivery system |
-
2019
- 2019-01-29 CN CN201920152247.3U patent/CN209755212U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110764517A (en) * | 2019-12-30 | 2020-02-07 | 天津联汇智造科技有限公司 | System and method for avoiding obstacles by using mobile robot to drag skip car |
| CN113859383A (en) * | 2020-06-30 | 2021-12-31 | 京东科技信息技术有限公司 | Transfer robot and control method thereof |
| CN114954733A (en) * | 2021-02-19 | 2022-08-30 | 京东科技信息技术有限公司 | Delivery robot and robot delivery system |
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